Detailed Description

This class stores a time-stamped trajectory in SE(3) (CPose3D poses).

It can also interpolate SE(3) poses over time using linear, splines or SLERP interpolation, as set in CPose3DInterpolator::setInterpolationMethod() Usage:

Insert new poses into the sequence with CPose3DInterpolator::insert()
Query an exact/interpolated pose with CPose3DInterpolator::interpolate(). Example:
CPose3DInterpolator path;
path.setInterpolationMethod( mrpt::poses::imSplineSlerp );
path.insert( t0, mrpt::poses::CPose3D(...) );
path.insert( t1, mrpt::math::TPose3D(...) ); // prefered (faster)
mrpt::math::TPose3D p;
bool valid;
cout << "Pose at t: " << path.interpolate(t,p,valid).asString() << endl;

Time is represented with mrpt::Clock::time_point. See mrpt::system for methods and utilities to manage these time references.

See TInterpolatorMethod for the list of interpolation methods. The default method at constructor is "imLinearSlerp".

See also: CPoseOrPoint

Definition at line 47 of file CPose3DInterpolator.h.

#include <mrpt/poses/CPose3DInterpolator.h>

Inheritance diagram for mrpt::poses::CPose3DInterpolator:

Public Member Functions
virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

void	insert (const mrpt::Clock::time_point &t, const pose_t &p)
	Inserts a new pose in the sequence. More...

void	insert (const mrpt::Clock::time_point &t, const cpose_t &p)
	Overload (slower) More...

pose_t &	interpolate (const mrpt::Clock::time_point &t, pose_t &out_interp, bool &out_valid_interp) const
	Returns the pose at a given time, or interpolates using splines if there is not an exact match. More...

cpose_t &	interpolate (const mrpt::Clock::time_point &t, cpose_t &out_interp, bool &out_valid_interp) const

void	clear ()
	Clears the current sequence of poses. More...

void	setMaxTimeInterpolation (const mrpt::Clock::duration &time)
	Set value of the maximum time to consider interpolation. More...

mrpt::Clock::duration	getMaxTimeInterpolation ()
	Set value of the maximum time to consider interpolation. More...

bool	getPreviousPoseWithMinDistance (const mrpt::Clock::time_point &t, double distance, pose_t &out_pose)
	Get the previous CPose3D in the map with a minimum defined distance. More...

bool	getPreviousPoseWithMinDistance (const mrpt::Clock::time_point &t, double distance, cpose_t &out_pose)

bool	saveToTextFile (const std::string &s) const
	Saves the points in the interpolator to a text file, with this format: Each row contains these elements separated by spaces: More...

bool	saveInterpolatedToTextFile (const std::string &s, const mrpt::Clock::duration &period) const
	Saves the points in the interpolator to a text file, with the same format that saveToTextFile, but interpolating the path with the given period in seconds. More...

bool	loadFromTextFile (const std::string &s)
	Loads from a text file, in the format described by saveToTextFile. More...

void	getBoundingBox (point_t &minCorner, point_t &maxCorner) const
	Computes the bounding box in all Euclidean coordinates of the whole path. More...

void	setInterpolationMethod (TInterpolatorMethod method)
	Change the method used to interpolate the robot path. More...

TInterpolatorMethod	getInterpolationMethod () const
	Returns the currently set interpolation method. More...

void	filter (unsigned int component, unsigned int samples)
	Filters by averaging one of the components of the pose data within the interpolator. More...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Protected Member Functions
void	impl_interpolation (const TTimePosePair &p1, const TTimePosePair &p2, const TTimePosePair &p3, const TTimePosePair &p4, const TInterpolatorMethod method, const mrpt::Clock::time_point &td, pose_t &out_interp) const

void	impl_interpolation (const TTimePosePair &p1, const TTimePosePair &p2, const TTimePosePair &p3, const TTimePosePair &p4, const TInterpolatorMethod method, const mrpt::Clock::time_point &t, pose_t &out_interp) const

void	impl_interpolation (const TTimePosePair &p1, const TTimePosePair &p2, const TTimePosePair &p3, const TTimePosePair &p4, const TInterpolatorMethod method, const mrpt::Clock::time_point &t, pose_t &out_interp) const

CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

Protected Attributes
TPath	m_path
	The sequence of poses. More...

mrpt::Clock::duration	maxTimeInterpolation
	Maximum time considered to interpolate. More...

TInterpolatorMethod	m_method

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::poses ::CPose3DInterpolator >

using	ConstPtr = std::shared_ptr< const mrpt::poses ::CPose3DInterpolator >

using	UniquePtr = std::unique_ptr< mrpt::poses ::CPose3DInterpolator >

using	ConstUniquePtr = std::unique_ptr< const mrpt::poses ::CPose3DInterpolator >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::poses" "::" "CPose3DInterpolator"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Type definitions and STL-like container interface
using	pose_t = typename Lie::SE< DIM >::light_type
	TPose2D or TPose3D. More...

using	cpose_t = typename Lie::SE< DIM >::type
	CPose2D or CPose3D. More...

using	point_t = typename Lie::Euclidean< DIM >::light_type
	TPoint2D or TPoint3D. More...

using	TTimePosePair = std::pair< mrpt::Clock::time_point, pose_t >

using	TPath = std::map< mrpt::Clock::time_point, pose_t >

using	iterator = typename TPath::iterator

using	const_iterator = typename TPath::const_iterator

using	reverse_iterator = typename TPath::reverse_iterator

using	const_reverse_iterator = typename TPath::const_reverse_iterator

iterator	begin ()

const_iterator	begin () const

const_iterator	cbegin () const

iterator	end ()

const_iterator	end () const

const_iterator	cend () const

reverse_iterator	rbegin ()

const_reverse_iterator	rbegin () const

reverse_iterator	rend ()

const_reverse_iterator	rend () const

iterator	lower_bound (const mrpt::Clock::time_point &t)

const_iterator	lower_bound (const mrpt::Clock::time_point &t) const

iterator	upper_bound (const mrpt::Clock::time_point &t)

const_iterator	upper_bound (const mrpt::Clock::time_point &t) const

iterator	erase (iterator element_to_erase)

size_t	size () const

bool	empty () const

iterator	find (const mrpt::Clock::time_point &t)

const_iterator	find (const mrpt::Clock::time_point &t) const

pose_t &	at (const mrpt::Clock::time_point &t)

const pose_t &	at (const mrpt::Clock::time_point &t) const

Member Typedef Documentation

◆ const_iterator

using mrpt::poses::CPoseInterpolatorBase< DIM >::const_iterator = typename TPath::const_iterator

inherited

Definition at line 69 of file CPoseInterpolatorBase.h.

◆ const_reverse_iterator

using mrpt::poses::CPoseInterpolatorBase< DIM >::const_reverse_iterator = typename TPath::const_reverse_iterator

inherited

Definition at line 71 of file CPoseInterpolatorBase.h.

◆ ConstPtr

using mrpt::poses::CPose3DInterpolator::ConstPtr = std::shared_ptr<const mrpt::poses :: CPose3DInterpolator >

Definition at line 50 of file CPose3DInterpolator.h.

◆ ConstUniquePtr

using mrpt::poses::CPose3DInterpolator::ConstUniquePtr = std::unique_ptr<const mrpt::poses :: CPose3DInterpolator >

Definition at line 50 of file CPose3DInterpolator.h.

◆ cpose_t

using mrpt::poses::CPoseInterpolatorBase< DIM >::cpose_t = typename Lie::SE<DIM>::type

inherited

CPose2D or CPose3D.

Definition at line 62 of file CPoseInterpolatorBase.h.

◆ iterator

using mrpt::poses::CPoseInterpolatorBase< DIM >::iterator = typename TPath::iterator

inherited

Definition at line 68 of file CPoseInterpolatorBase.h.

◆ point_t

using mrpt::poses::CPoseInterpolatorBase< DIM >::point_t = typename Lie::Euclidean<DIM>::light_type

inherited

TPoint2D or TPoint3D.

Definition at line 64 of file CPoseInterpolatorBase.h.

◆ pose_t

using mrpt::poses::CPoseInterpolatorBase< DIM >::pose_t = typename Lie::SE<DIM>::light_type

inherited

TPose2D or TPose3D.

Definition at line 60 of file CPoseInterpolatorBase.h.

◆ Ptr

using mrpt::poses::CPose3DInterpolator::Ptr = std::shared_ptr< mrpt::poses :: CPose3DInterpolator >

A type for the associated smart pointer

Definition at line 50 of file CPose3DInterpolator.h.

◆ reverse_iterator

using mrpt::poses::CPoseInterpolatorBase< DIM >::reverse_iterator = typename TPath::reverse_iterator

inherited

Definition at line 70 of file CPoseInterpolatorBase.h.

◆ TPath

using mrpt::poses::CPoseInterpolatorBase< DIM >::TPath = std::map<mrpt::Clock::time_point, pose_t>

inherited

Definition at line 67 of file CPoseInterpolatorBase.h.

◆ TTimePosePair

using mrpt::poses::CPoseInterpolatorBase< DIM >::TTimePosePair = std::pair<mrpt::Clock::time_point, pose_t>

inherited

Definition at line 66 of file CPoseInterpolatorBase.h.

◆ UniquePtr

using mrpt::poses::CPose3DInterpolator::UniquePtr = std::unique_ptr< mrpt::poses :: CPose3DInterpolator >

Definition at line 50 of file CPose3DInterpolator.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DInterpolator::_GetBaseClass ( )

staticprotected

◆ at() [1/2]

pose_t& mrpt::poses::CPoseInterpolatorBase< DIM >::at ( const mrpt::Clock::time_point & t )

inlineinherited

Definition at line 114 of file CPoseInterpolatorBase.h.

References mrpt::poses::CPoseInterpolatorBase< DIM >::m_path.

◆ at() [2/2]

const pose_t& mrpt::poses::CPoseInterpolatorBase< DIM >::at ( const mrpt::Clock::time_point & t ) const

inlineinherited

Definition at line 115 of file CPoseInterpolatorBase.h.

References mrpt::poses::CPoseInterpolatorBase< DIM >::m_path.

◆ begin() [1/2]

iterator mrpt::poses::CPoseInterpolatorBase< DIM >::begin ( )

inlineinherited

Definition at line 73 of file CPoseInterpolatorBase.h.

References mrpt::poses::CPoseInterpolatorBase< DIM >::m_path.

◆ begin() [2/2]

const_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::begin ( ) const

inlineinherited

Definition at line 74 of file CPoseInterpolatorBase.h.

References mrpt::poses::CPoseInterpolatorBase< DIM >::m_path.

◆ cbegin()

const_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::cbegin ( ) const

inlineinherited

Definition at line 75 of file CPoseInterpolatorBase.h.

References mrpt::poses::CPoseInterpolatorBase< DIM >::m_path.

◆ cend()

const_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::cend ( ) const

inlineinherited

Definition at line 78 of file CPoseInterpolatorBase.h.

References mrpt::poses::CPoseInterpolatorBase< DIM >::m_path.

◆ clear()

void mrpt::poses::CPoseInterpolatorBase< DIM >::clear ( )

inherited

Clears the current sequence of poses.

Definition at line 35 of file CPoseInterpolatorBase.hpp.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPose3DInterpolator::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::poses::CPose3DInterpolator::Create ( Args &&... args )

inlinestatic

Definition at line 50 of file CPose3DInterpolator.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::poses::CPose3DInterpolator::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 50 of file CPose3DInterpolator.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::poses::CPose3DInterpolator::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::poses::CPose3DInterpolator::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 50 of file CPose3DInterpolator.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ empty()

bool mrpt::poses::CPoseInterpolatorBase< DIM >::empty ( ) const

inlineinherited

Definition at line 108 of file CPoseInterpolatorBase.h.

References mrpt::poses::CPoseInterpolatorBase< DIM >::m_path.

◆ end() [1/2]

iterator mrpt::poses::CPoseInterpolatorBase< DIM >::end ( )

inlineinherited

Definition at line 76 of file CPoseInterpolatorBase.h.

References mrpt::poses::CPoseInterpolatorBase< DIM >::m_path.

◆ end() [2/2]

const_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::end ( ) const

inlineinherited

Definition at line 77 of file CPoseInterpolatorBase.h.

References mrpt::poses::CPoseInterpolatorBase< DIM >::m_path.

◆ erase()

iterator mrpt::poses::CPoseInterpolatorBase< DIM >::erase ( iterator element_to_erase )

inlineinherited

Definition at line 101 of file CPoseInterpolatorBase.h.

References mrpt::poses::CPoseInterpolatorBase< DIM >::m_path.

◆ filter()

void mrpt::poses::CPoseInterpolatorBase< DIM >::filter	(	unsigned int	component,
		unsigned int	samples
	)

inherited

Filters by averaging one of the components of the pose data within the interpolator.

The width of the filter is set by the number of samples.

Parameters

component	[IN] The index of the component to filter: 0 (x), 1 (y), 2 (z), 3 (yaw), 4 (pitch) or 5 (roll)
samples	[IN] The width of the average filter.

Definition at line 374 of file CPoseInterpolatorBase.hpp.

References mrpt::poses::CPose3D::asTPose(), mrpt::math::distance(), mrpt::poses::CPose3DPDFParticles::getMean(), mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, and mrpt::math::size().

◆ find() [1/2]

iterator mrpt::poses::CPoseInterpolatorBase< DIM >::find ( const mrpt::Clock::time_point & t )

inlineinherited

Definition at line 109 of file CPoseInterpolatorBase.h.

References mrpt::poses::CPoseInterpolatorBase< DIM >::m_path.

◆ find() [2/2]

const_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::find ( const mrpt::Clock::time_point & t ) const

inlineinherited

Definition at line 110 of file CPoseInterpolatorBase.h.

References mrpt::poses::CPoseInterpolatorBase< DIM >::m_path.

◆ getBoundingBox()

void mrpt::poses::CPoseInterpolatorBase< DIM >::getBoundingBox	(	point_t &	minCorner,
		point_t &	maxCorner
	)		const

inherited

Computes the bounding box in all Euclidean coordinates of the whole path.

Exceptions

std::exception On empty path

Definition at line 337 of file CPoseInterpolatorBase.hpp.

References ASSERT_, mrpt::keep_max(), mrpt::keep_min(), MRPT_END, and MRPT_START.

◆ getClassName()

static constexpr auto mrpt::poses::CPose3DInterpolator::getClassName ( )

inlinestatic

Definition at line 50 of file CPose3DInterpolator.h.

◆ getInterpolationMethod()

TInterpolatorMethod mrpt::poses::CPoseInterpolatorBase< DIM >::getInterpolationMethod ( ) const

inherited

Returns the currently set interpolation method.

See also: setInterpolationMethod()

Definition at line 368 of file CPoseInterpolatorBase.hpp.

◆ getMaxTimeInterpolation()

mrpt::Clock::duration mrpt::poses::CPoseInterpolatorBase< DIM >::getMaxTimeInterpolation ( )

inherited

Set value of the maximum time to consider interpolation.

Definition at line 230 of file CPoseInterpolatorBase.hpp.

◆ getPreviousPoseWithMinDistance() [1/2]

bool mrpt::poses::CPoseInterpolatorBase< DIM >::getPreviousPoseWithMinDistance	(	const mrpt::Clock::time_point &	t,
		double	distance,
		pose_t &	out_pose
	)

inherited

Get the previous CPose3D in the map with a minimum defined distance.

Returns: true if pose was found, false otherwise

Definition at line 191 of file CPoseInterpolatorBase.hpp.

References mrpt::math::distance(), mrpt::poses::CPoseInterpolatorBase< DIM >::find(), and mrpt::math::norm().

◆ getPreviousPoseWithMinDistance() [2/2]

bool mrpt::poses::CPoseInterpolatorBase< DIM >::getPreviousPoseWithMinDistance	(	const mrpt::Clock::time_point &	t,
		double	distance,
		cpose_t &	out_pose
	)

inherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 181 of file CPoseInterpolatorBase.hpp.

References mrpt::math::distance().

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DInterpolator::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::poses::CPose3DInterpolator::GetRuntimeClassIdStatic ( )

static

◆ impl_interpolation() [1/3]

void mrpt::poses::CPoseInterpolatorBase< 2 >::impl_interpolation	(	const TTimePosePair &	p1,
		const TTimePosePair &	p2,
		const TTimePosePair &	p3,
		const TTimePosePair &	p4,
		const TInterpolatorMethod	method,
		const mrpt::Clock::time_point &	t,
		pose_t &	out_interp
	)		const

protectedinherited

Definition at line 45 of file CPose2DInterpolator.cpp.

References mrpt::math::angDistance(), mrpt::poses::imLinear2Neig, mrpt::poses::imLinear4Neig, mrpt::poses::imLinearSlerp, mrpt::poses::imSpline, mrpt::poses::imSplineSlerp, mrpt::poses::imSSLLLL, mrpt::poses::imSSLSLL, mrpt::math::interpolate2points(), mrpt::math::spline(), THROW_EXCEPTION, and mrpt::math::unwrap2PiSequence().

◆ impl_interpolation() [2/3]

void mrpt::poses::CPoseInterpolatorBase< 3 >::impl_interpolation	(	const TTimePosePair &	p1,
		const TTimePosePair &	p2,
		const TTimePosePair &	p3,
		const TTimePosePair &	p4,
		const TInterpolatorMethod	method,
		const mrpt::Clock::time_point &	t,
		pose_t &	out_interp
	)		const

protectedinherited

Definition at line 56 of file CPose3DInterpolator.cpp.

References mrpt::poses::imLinear2Neig, mrpt::poses::imLinear4Neig, mrpt::poses::imLinearSlerp, mrpt::poses::imSpline, mrpt::poses::imSplineSlerp, mrpt::poses::imSSLLLL, mrpt::poses::imSSLSLL, mrpt::math::interpolate2points(), mrpt::obs::gnss::pitch, mrpt::obs::gnss::roll, mrpt::math::slerp_ypr(), mrpt::math::spline(), THROW_EXCEPTION, and mrpt::math::unwrap2PiSequence().

◆ impl_interpolation() [3/3]

void mrpt::poses::CPoseInterpolatorBase< DIM >::impl_interpolation	(	const TTimePosePair &	p1,
		const TTimePosePair &	p2,
		const TTimePosePair &	p3,
		const TTimePosePair &	p4,
		const TInterpolatorMethod	method,
		const mrpt::Clock::time_point &	td,
		pose_t &	out_interp
	)		const

protectedinherited

◆ insert() [1/2]

void mrpt::poses::CPoseInterpolatorBase< DIM >::insert	(	const mrpt::Clock::time_point &	t,
		const pose_t &	p
	)

inherited

Inserts a new pose in the sequence.

It overwrites any previously existing pose at exactly the same time.

Definition at line 47 of file CPoseInterpolatorBase.hpp.

◆ insert() [2/2]

void mrpt::poses::CPoseInterpolatorBase< DIM >::insert	(	const mrpt::Clock::time_point &	t,
		const cpose_t &	p
	)

inherited

Overload (slower)

Definition at line 41 of file CPoseInterpolatorBase.hpp.

◆ interpolate() [1/2]

CPoseInterpolatorBase< DIM >::pose_t & mrpt::poses::CPoseInterpolatorBase< DIM >::interpolate	(	const mrpt::Clock::time_point &	t,
		pose_t &	out_interp,
		bool &	out_valid_interp
	)		const

inherited

Returns the pose at a given time, or interpolates using splines if there is not an exact match.

Parameters

t	The time of the point to interpolate.
out_interp	The output interpolated pose.
out_valid_interp	Whether there was information enough to compute the interpolation.

Returns: A reference to out_interp

Definition at line 70 of file CPoseInterpolatorBase.hpp.

References mrpt::poses::imLinear2Neig, mrpt::poses::imLinearSlerp, and mrpt::poses::imSplineSlerp.

◆ interpolate() [2/2]

CPoseInterpolatorBase< DIM >::cpose_t & mrpt::poses::CPoseInterpolatorBase< DIM >::interpolate	(	const mrpt::Clock::time_point &	t,
		cpose_t &	out_interp,
		bool &	out_valid_interp
	)		const

inherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 58 of file CPoseInterpolatorBase.hpp.

References mrpt::math::interpolate().

◆ loadFromTextFile()

bool mrpt::poses::CPoseInterpolatorBase< DIM >::loadFromTextFile ( const std::string & s )

inherited

Loads from a text file, in the format described by saveToTextFile.

Returns: true on success, false on any error.

Exceptions

std::exception On invalid file format

Definition at line 303 of file CPoseInterpolatorBase.hpp.

References ASSERT_, mrpt::containers::clear(), mrpt::math::CMatrixDynamic< T >::cols(), mrpt::math::MatrixVectorBase< Scalar, Derived >::loadFromTextFile(), MRPT_END, MRPT_START, mrpt::math::CMatrixDynamic< T >::rows(), and mrpt::system::time_tToTimestamp().

◆ lower_bound() [1/2]

iterator mrpt::poses::CPoseInterpolatorBase< DIM >::lower_bound ( const mrpt::Clock::time_point & t )

inlineinherited

Definition at line 83 of file CPoseInterpolatorBase.h.

References mrpt::poses::CPoseInterpolatorBase< DIM >::m_path.

◆ lower_bound() [2/2]

const_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::lower_bound ( const mrpt::Clock::time_point & t ) const

inlineinherited

Definition at line 87 of file CPoseInterpolatorBase.h.

References mrpt::poses::CPoseInterpolatorBase< DIM >::m_path.

◆ rbegin() [1/2]

reverse_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::rbegin ( )

inlineinherited

Definition at line 79 of file CPoseInterpolatorBase.h.

References mrpt::poses::CPoseInterpolatorBase< DIM >::m_path.

◆ rbegin() [2/2]

const_reverse_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::rbegin ( ) const

inlineinherited

Definition at line 80 of file CPoseInterpolatorBase.h.

References mrpt::poses::CPoseInterpolatorBase< DIM >::m_path.

◆ rend() [1/2]

reverse_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::rend ( )

inlineinherited

Definition at line 81 of file CPoseInterpolatorBase.h.

References mrpt::poses::CPoseInterpolatorBase< DIM >::m_path.

◆ rend() [2/2]

const_reverse_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::rend ( ) const

inlineinherited

Definition at line 82 of file CPoseInterpolatorBase.h.

References mrpt::poses::CPoseInterpolatorBase< DIM >::m_path.

◆ saveInterpolatedToTextFile()

bool mrpt::poses::CPoseInterpolatorBase< DIM >::saveInterpolatedToTextFile	(	const std::string &	s,
		const mrpt::Clock::duration &	period
	)		const

inherited

Saves the points in the interpolator to a text file, with the same format that saveToTextFile, but interpolating the path with the given period in seconds.

See also: loadFromTextFile

Returns: true on success, false on any error.

Definition at line 265 of file CPoseInterpolatorBase.hpp.

References mrpt::format(), mrpt::math::interpolate(), and mrpt::system::timestampTotime_t().

◆ saveToTextFile()

bool mrpt::poses::CPoseInterpolatorBase< DIM >::saveToTextFile ( const std::string & s ) const

inherited

Saves the points in the interpolator to a text file, with this format: Each row contains these elements separated by spaces:

Timestamp: As a "double time_t" (see mrpt::system::timestampTotime_t).
x y z: The 3D position in meters.
yaw pitch roll: The angles, in radians
See also
loadFromTextFile

Returns
true on success, false on any error.

Definition at line 236 of file CPoseInterpolatorBase.hpp.

References mrpt::format(), and mrpt::system::timestampTotime_t().

◆ serializeFrom() [1/2]

void CPose3DInterpolator::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 26 of file CPose3DInterpolator.cpp.

References mrpt::poses::CPoseInterpolatorBase< 3 >::m_path, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CPose3DInterpolator::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 21 of file CPose3DInterpolator.cpp.

◆ serializeTo() [1/2]

void CPose3DInterpolator::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 22 of file CPose3DInterpolator.cpp.

References mrpt::poses::CPoseInterpolatorBase< 3 >::m_path, and out.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ setInterpolationMethod()

void mrpt::poses::CPoseInterpolatorBase< DIM >::setInterpolationMethod ( TInterpolatorMethod method )

inherited

Change the method used to interpolate the robot path.

The default method at construction is "imSpline".

See also: getInterpolationMethod()

Definition at line 361 of file CPoseInterpolatorBase.hpp.

◆ setMaxTimeInterpolation()

void mrpt::poses::CPoseInterpolatorBase< DIM >::setMaxTimeInterpolation ( const mrpt::Clock::duration & time )

inherited

Set value of the maximum time to consider interpolation.

If set to a negative value, the check is disabled (default behavior).

Definition at line 222 of file CPoseInterpolatorBase.hpp.

References ASSERT_.

◆ size()

size_t mrpt::poses::CPoseInterpolatorBase< DIM >::size ( ) const

inlineinherited

Definition at line 107 of file CPoseInterpolatorBase.h.

References mrpt::poses::CPoseInterpolatorBase< DIM >::m_path.

◆ upper_bound() [1/2]

iterator mrpt::poses::CPoseInterpolatorBase< DIM >::upper_bound ( const mrpt::Clock::time_point & t )

inlineinherited

Definition at line 92 of file CPoseInterpolatorBase.h.

References mrpt::poses::CPoseInterpolatorBase< DIM >::m_path.

◆ upper_bound() [2/2]

const_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::upper_bound ( const mrpt::Clock::time_point & t ) const

inlineinherited

Definition at line 96 of file CPoseInterpolatorBase.h.

References mrpt::poses::CPoseInterpolatorBase< DIM >::m_path.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::poses::CPose3DInterpolator::className = "mrpt::poses" "::" "CPose3DInterpolator"

static

Definition at line 50 of file CPose3DInterpolator.h.

◆ m_method

TInterpolatorMethod mrpt::poses::CPoseInterpolatorBase< DIM >::m_method

protectedinherited

Definition at line 212 of file CPoseInterpolatorBase.h.

◆ m_path

TPath mrpt::poses::CPoseInterpolatorBase< DIM >::m_path

protectedinherited

The sequence of poses.

Definition at line 207 of file CPoseInterpolatorBase.h.

Referenced by serializeFrom(), and serializeTo().

◆ maxTimeInterpolation

mrpt::Clock::duration mrpt::poses::CPoseInterpolatorBase< DIM >::maxTimeInterpolation

protectedinherited

Maximum time considered to interpolate.

If the difference between the desired timestamp where to interpolate and the next timestamp stored in the map is bigger than this value, the interpolation will not be done.

Definition at line 211 of file CPoseInterpolatorBase.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPose3DInterpolator::runtimeClassId

staticprotected

Definition at line 50 of file CPose3DInterpolator.h.

Detailed Description

Public Member Functions

Protected Member Functions

Protected Attributes

RTTI stuff

Type definitions and STL-like container interface

Member Typedef Documentation

◆ const_iterator

◆ const_reverse_iterator

◆ ConstPtr

◆ ConstUniquePtr

◆ cpose_t

◆ iterator

◆ point_t

◆ pose_t

◆ Ptr

◆ reverse_iterator

◆ TPath

◆ TTimePosePair

◆ UniquePtr

Member Function Documentation

◆ _GetBaseClass()

◆ at() [1/2]

◆ at() [2/2]

◆ begin() [1/2]

◆ begin() [2/2]

◆ cbegin()

◆ cend()

◆ clear()

◆ clone()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ empty()

◆ end() [1/2]

◆ end() [2/2]

◆ erase()

◆ filter()

◆ find() [1/2]

◆ find() [2/2]

◆ getBoundingBox()

◆ getClassName()

◆ getInterpolationMethod()

◆ getMaxTimeInterpolation()

◆ getPreviousPoseWithMinDistance() [1/2]

◆ getPreviousPoseWithMinDistance() [2/2]

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ impl_interpolation() [1/3]

◆ impl_interpolation() [2/3]

◆ impl_interpolation() [3/3]

◆ insert() [1/2]

◆ insert() [2/2]

◆ interpolate() [1/2]

◆ interpolate() [2/2]

◆ loadFromTextFile()

◆ lower_bound() [1/2]

◆ lower_bound() [2/2]

◆ rbegin() [1/2]

◆ rbegin() [2/2]

◆ rend() [1/2]

◆ rend() [2/2]

◆ saveInterpolatedToTextFile()

◆ saveToTextFile()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ setInterpolationMethod()

◆ setMaxTimeInterpolation()

◆ size()

◆ upper_bound() [1/2]

◆ upper_bound() [2/2]

◆ writeToMatlab()

Member Data Documentation

◆ className

◆ m_method